version: 66.10
glider: 176
mission: 5
dive: 134
start: 4 6 112 2 22 57
data:
$ID,176
$MISSION,5
$DIVE,134
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,440
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7597.3242
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2510
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,060412,021301,1951.190,12335.926,38,1.9,38,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.2
$GPS2,060412,022231,1951.159,12336.263,10,1.1,15,-2.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,49.6,87891,-13.1,-7.500
$D_GRID,5261
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.51,-146.0,0.0,0.0,0,65,0.00,0.00,-46.50,0.000,2,0.000,0.000,179,2637,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.51,-146.0,3.5,-7.9,8,105,8.65,2.22,-18.83,0.000,4,0.236,0.044,2351,1159,3527,0,0,0,0,0,0,25.48,26.06,26.42
$GC,219,-0.51,-146.0,41.1,-21.3,36,226,0.00,2.25,0.00,0.000,6,0.000,0.044,2341,2637,3527,0,0,0,0,0,0,28.83,26.08,28.83
$GC,529,-0.51,-146.0,132.1,-26.8,97,535,0.00,2.15,0.00,0.000,4,0.000,0.026,2341,1146,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,669,-0.51,-146.0,162.4,-19.7,124,676,0.10,2.25,0.00,0.000,6,0.177,0.044,2356,2634,3527,0,0,0,0,0,0,26.07,26.25,28.83
$GC,981,-0.51,-146.0,229.5,-19.1,171,991,0.05,2.12,0.00,0.000,4,0.180,0.024,2310,1148,3528,0,0,0,0,0,0,26.58,26.43,28.83
$GC,1108,-0.51,-146.0,252.1,-17.7,183,1117,0.17,2.22,0.00,0.000,6,0.149,0.044,2357,2629,3528,0,0,0,0,0,0,26.08,26.33,28.83
$GC,1415,-0.51,-146.0,303.7,-17.1,214,1424,0.08,2.10,0.00,0.000,4,0.135,0.024,2300,1152,3528,0,0,0,0,0,0,26.62,26.46,28.83
$GC,1497,-0.51,-146.0,319.3,-18.1,222,1507,0.20,2.22,0.00,0.000,6,0.145,0.045,2352,2636,3528,0,0,0,0,0,0,26.09,26.36,28.83
$GC,1807,-0.51,-146.0,368.2,-15.2,253,1816,0.00,2.10,0.00,0.000,4,0.000,0.025,2352,1156,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1919,-0.51,-146.0,382.0,-11.1,264,1928,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2633,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2228,-0.51,-146.0,423.2,-13.4,295,2238,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1156,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2301,-0.51,-146.0,431.9,-11.1,302,2310,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2637,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2613,-0.51,-146.0,470.5,-12.4,333,2621,0.00,2.10,0.00,0.000,4,0.000,0.026,2345,1158,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2677,-0.51,-146.0,477.4,-10.7,339,2685,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2633,3524,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2983,-0.51,-146.0,512.2,-10.7,370,2992,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1152,3522,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3087,-0.51,-146.0,521.8,-9.2,380,3094,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2633,3522,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3396,-0.51,-146.0,555.5,-11.3,411,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2633,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3696,-0.51,-146.0,588.8,-11.1,441,3705,0.00,2.10,0.00,0.000,4,0.000,0.027,2343,1149,3518,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3758,-0.51,-146.0,595.7,-9.8,447,3769,0.00,2.28,0.00,0.000,6,0.000,0.046,2343,2637,3517,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4068,-0.51,-146.0,631.9,-11.9,465,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2637,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4368,-0.51,-146.0,665.8,-10.9,480,4372,0.00,2.12,0.00,0.000,4,0.000,0.026,2343,1157,3513,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4403,-0.51,-146.0,668.1,-10.9,481,4410,0.00,2.22,0.00,0.000,6,0.000,0.046,2343,2631,3513,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4710,-0.51,-146.0,700.2,-9.7,497,4715,0.00,2.12,0.00,0.000,4,0.000,0.026,2343,1158,3511,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4742,-0.51,-146.0,702.2,-9.7,498,4749,0.00,2.25,0.00,0.000,6,0.000,0.047,2343,2631,3510,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5050,-0.51,-146.0,734.1,-10.3,514,5056,0.00,2.12,0.00,0.000,4,0.000,0.027,2343,1146,3508,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5114,-0.51,-146.0,740.0,-10.1,517,5118,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2632,3508,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5425,-0.51,-146.0,773.1,-10.7,533,5431,0.00,2.15,0.00,0.000,4,0.000,0.026,2343,1148,3505,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5454,-0.51,-146.0,775.4,-10.8,534,5458,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2633,3505,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5760,-0.51,-146.0,806.0,-8.4,549,5764,0.00,1.73,0.00,0.000,4,0.000,0.057,2343,3764,3503,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5768,-0.51,-146.0,806.0,-8.4,549,5773,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2536,3502,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6082,-0.51,-146.0,830.5,-7.2,565,6088,0.00,1.98,0.00,0.000,4,0.000,0.028,2343,1141,3501,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6142,-0.51,-146.0,834.8,-7.1,568,6148,0.00,2.25,0.00,0.000,6,0.000,0.044,2343,2631,3501,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6463,-0.51,-146.0,856.5,-6.6,584,6466,0.00,1.73,0.00,0.000,4,0.000,0.057,2343,3764,3499,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6497,-0.51,-146.0,858.0,-6.7,585,6504,0.00,1.70,0.00,0.000,6,0.000,0.026,2343,2510,3498,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6804,-0.51,-146.0,881.0,-7.4,601,6808,0.00,1.98,0.00,0.000,4,0.000,0.057,2343,3761,3497,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6869,-0.51,-146.0,885.9,-7.7,604,6873,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2520,3496,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7187,-0.51,-146.0,911.9,-8.4,620,7192,0.00,1.95,0.00,0.000,4,0.000,0.057,2343,3766,3495,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7267,-0.51,-146.0,918.9,-8.7,624,7270,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2524,3494,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7589,-0.51,-146.0,945.7,-8.1,640,7594,0.00,1.92,0.00,0.000,4,0.000,0.057,2343,3763,3493,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7688,-0.51,-146.0,954.1,-8.4,645,7691,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2526,3492,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8011,-0.51,-146.0,977.4,-6.8,661,8016,0.00,1.95,0.00,0.000,4,0.000,0.057,2343,3764,3491,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8079,-0.51,-146.0,981.3,-6.5,664,8082,0.00,1.73,0.00,0.000,6,0.000,0.026,2343,2527,3491,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,8229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8229,begin apogee
$GC,8234,-0.17,0.0,991.0,-5.9,672,8361,0.32,0.00,121.78,1.741,6,0.096,0.000,2464,2515,2928,0,0,0,0,0,0,26.16,28.83,23.50
$STATE,8364,end apogee,CONTROL_FINISHED_OK
$STATE,8364,begin climb
$GC,8366,0.51,146.0,995.9,0.0,678,8515,0.57,2.20,138.27,1.703,4,0.051,0.055,2694,3765,2332,0,0,0,0,0,0,24.84,23.89,22.80
$GC,8732,0.51,146.0,948.9,19.1,697,8739,0.15,1.98,0.00,0.000,6,0.201,0.027,2670,2449,2325,0,0,0,0,0,0,25.16,25.56,28.83
$GC,9055,0.51,146.0,902.0,13.9,713,9060,0.00,2.08,0.00,0.000,4,0.000,0.054,2670,3770,2322,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9072,0.51,146.0,898.8,14.1,714,9076,0.00,1.92,0.00,0.000,6,0.000,0.024,2679,2451,2321,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9388,0.51,146.0,854.9,13.1,730,9394,0.00,2.05,0.00,0.000,4,0.000,0.031,2690,1053,2319,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9422,0.51,146.0,852.4,13.0,731,9430,0.10,2.28,0.00,0.000,6,0.191,0.045,2667,2525,2318,0,0,0,0,0,0,25.83,26.05,28.83
$GC,9728,0.51,146.0,815.5,11.3,747,9734,0.00,2.17,0.00,0.000,4,0.000,0.031,2678,1051,2317,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9776,0.51,146.0,810.8,11.9,749,9780,0.00,2.28,0.00,0.000,6,0.000,0.046,2678,2516,2316,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10085,0.51,146.0,770.5,13.1,764,10090,0.00,1.90,0.00,0.000,4,0.000,0.056,2678,3764,2316,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10131,0.51,146.0,764.6,13.8,766,10136,0.10,1.90,0.00,0.000,6,0.223,0.025,2667,2449,2316,0,0,0,0,0,0,25.93,26.33,28.83
$GC,10444,0.51,146.0,724.6,11.8,782,10450,0.00,2.05,0.00,0.000,4,0.000,0.055,2666,3775,2315,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10491,0.51,146.0,719.3,12.5,784,10495,0.00,1.92,0.00,0.000,6,0.000,0.024,2676,2438,2315,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10804,0.51,146.0,680.2,12.1,800,10809,0.00,2.00,0.00,0.000,4,0.000,0.033,2686,1058,2314,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10904,0.51,146.0,668.7,11.3,805,10910,0.10,2.25,0.00,0.000,6,0.187,0.045,2663,2523,2313,0,0,0,0,0,0,25.97,26.20,28.83
$GC,11223,0.51,146.0,634.7,10.3,821,11228,0.05,1.90,0.00,0.000,4,0.175,0.054,2698,3764,2313,0,0,0,0,0,0,26.55,26.12,28.83
$GC,11274,0.51,146.0,629.2,11.5,823,11279,0.15,1.90,0.00,0.000,6,0.198,0.024,2670,2444,2313,0,0,0,0,0,0,25.84,26.39,28.83
$GC,11580,0.51,146.0,597.4,9.2,839,11590,0.00,2.05,0.00,0.000,4,0.000,0.034,2680,1055,2313,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11606,0.51,146.0,595.2,9.3,841,11613,0.05,2.25,0.00,0.000,6,0.220,0.045,2669,2524,2313,0,0,0,0,0,0,26.12,26.20,28.83
$GC,11913,0.51,146.0,564.7,9.9,872,11921,0.00,1.88,0.00,0.000,4,0.000,0.054,2669,3764,2313,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12035,0.51,146.0,550.3,12.1,884,12044,0.00,1.90,0.00,0.000,6,0.000,0.024,2678,2434,2313,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12344,0.51,146.0,520.9,8.6,915,12354,0.00,2.03,0.00,0.000,4,0.000,0.034,2689,1055,2312,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,18000,end climb,SURFACE_DEPTH_REACHED
$STATE,18000,begin surface coast
$FINISH,0.8,1.023155
$STATE,18049,end surface coast,CONTROL_FINISHED_OK
$STATE,18049,begin surface
$SM_CCo,18064,34.47,0.130,0,0,1397,375.06
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$IRIDIUM_FIX,1943.54,12335.05,060412,020209
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.53
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,22.8,29.770
$10V_AH,10.2,17.650
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.525,179.375,362.450,34.475,0.000,63.162,44.602,255.649,0.000,0.000,17.628,4272.022,9856.638,603.280,3503.227,407.341,0.000,2219.926,0.000,2985.229,0.000,0.541,0.000
$DEVICE_MAMPS,235.620,78.030,1741.140,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1148.435,2122.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329560
$DATA_FILE_SIZE,126880,1687
$CAP_FILE_SIZE,197605,0
$CFSIZE,260165632,210665472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,111.5,1
$GPS,060412,072537,1951.966,12339.216,28,1.8,28,-2.4